Glider dive log

NAB Apr08 * SG143 * Dive index * Mission links * Dive 198 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING 340 PITCH_ADJ_GAIN 0.02 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 198 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 182 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3816 ALTIM_PING_DEPTH 0

D_TGT 990 TGT_DEFAULT_LAT -2030 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 1040 TGT_DEFAULT_LON 5900 C_ROLL_DIVE 2295 ALTIM_FREQUENCY 13

D_NO_BLEED 350 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

D_FINISH 0 SM_CC 200 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 8 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 18 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 53

T_ABORT 720 CALL_TRIES 5 VBD_MIN 490 DEVICE4 35

T_TURN 270 CALL_WAIT 60 VBD_MAX 3964 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3071 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -9026.0293 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 1469 AH0_24V 150 SEABIRD_T_G 0.0043273759

SPEED_FACTOR 1 PITCH_MAX 4022 AH0_10V 100 SEABIRD_T_H 0.00064184016

RHO 1.0273 C_PITCH 2800 PRESSURE_YINT -13.47135 SEABIRD_T_I 2.4188148e-05

MASS 51457 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.1530041e-05 SEABIRD_T_J 2.4070987e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.197048

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1695373

KALMAN_USE 2 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015330453

HD_A 0.0038360001 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00015523176

HD_B 0.010078 PITCH_AD_RATE 100 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 350 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 27 SM_CC 200

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 1469 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.1530041e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -13.47135 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0273 T_GPS_CHARGE -9026.0293

CAPUPLOAD 0 HEADING 340 ROLL_ADJ_DBAND 0.029999999 T_MISSION 360

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COMPASS_USE 0 ID 143 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3816 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2050 KALMAN_USE 2 ROLL_MIN 182 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2295 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3071 MASS 51457 R_PORT_OVSHOOT 18 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 32 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.197048 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1695373 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.0015330453 VBD_MAX 3964

DEVICE3 53 N_FILEKB 8 SEABIRD_C_J 0.00015523176 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043273759 VBD_MIN 490

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00064184016 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4188148e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 198 PHONE_DEVICE 48 SEABIRD_T_J 2.4070987e-06 VBD_TIMEOUT 720

D_ABORT 1040 PITCH_ADJ_DBAND 2 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

Pre-dive calculations and measurements:

GPS1 040138,6100.512,-2613.461,30,1.5,30,-18.3 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6110.602,-2615.373

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.95 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041057,6100.454,-2613.592,14,1.6,14,-18.3 MHEAD_RNG_PITCHd_Wd 358.3,20000,-15.7,-10.000

SPEED_LIMITS 0.173,0.296 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.016523 XPDR_PINGS 16

SM_CCo 16783,0.00,0.000,0,0,1201,458.71 _24V_AH 19.2,65.425

SM_GC 0.88,7.22,0.00,0.00,0.042,0.000,0.000,1467,2300,1201,-6.09,0.17,458.71 _10V_AH 9.9,45.990

IRIDIUM_FIX 6037.25,-2612.07,080897,040415 DATA_FILE_SIZE 123250,1727

TT8_MAMPS 0.021476 CAP_FILE_SIZE 154710,0

HUMID 1735 CFSIZE 260165632,237785088

INTERNAL_PRESSURE 8.13508 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 140508,085207,6101.340,-2615.666,32,1.4,32,-18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 249 100.15 SBE_CT 1293 24 596.19

Roll_motor 125 72 175.89 SBE_O2 1209 19 441.13

VBD_pump_during_apogee 677 1428 18580.17 Optode 646 33 409.75

VBD_pump_during_surface 0 0 0.00 WL_BB2F 902 105 1819.78

VBD_valve 0 0 0.00 WL_BBFL2VMT 0 105 0.00

Iridium_during_init 64 103 127.48 nil 0 0 0.00

Iridium_during_connect 64 160 199.60 nil 0 0 0.00

Iridium_during_xfer 244 223 1046.89

Transponder_ping 4 420 32.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.14

TT8 2720 19 533.31

LPSleep 10129 2 219.63

TT8_Active 777 19 152.40

TT8_Sampling 3066 39 1208.36

TT8_CF8 635 45 288.18

TT8_Kalman 0 0 0.00

Analog_circuits 2229 12 264.87

GPS_charging 0 0 0.00

Compass 3043 8 241.05

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

24 end surface: CONTROL_FINISHED_OK

state 25 begin dive

27 -0.82 -194.7 0.0 0.0 0 128 0.00 0.00 -98.60 0.000 2 0.000 0.000 1466 2317 3429

131 -0.82 -194.7 3.4 -5.4 18 161 9.90 2.85 -10.38 0.000 4 0.249 0.073 2607 3689 3868

330 -0.73 -194.7 40.4 -16.5 53 337 0.20 2.70 0.00 0.000 6 0.143 0.041 2637 2286 3868

474 -0.68 -194.7 60.9 -14.2 78 480 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2285 3868

817 -0.64 -194.7 107.9 -13.4 139 823 0.12 0.00 0.00 0.000 6 0.153 0.000 2654 2283 3868

1160 -0.64 -194.7 148.5 -11.6 200 1166 0.00 2.72 0.00 0.000 4 0.000 0.054 2655 888 3868

1206 -0.69 -194.7 153.8 -11.0 208 1213 0.00 2.70 0.00 0.000 6 0.000 0.045 2654 2279 3868

1550 -0.69 -194.7 192.7 -11.2 269 1556 0.00 2.85 0.00 0.000 4 0.000 0.058 2654 3712 3868

1601 -0.69 -194.7 198.6 -11.0 278 1608 0.00 2.72 0.00 0.000 6 0.000 0.041 2654 2298 3869

1945 -0.69 -194.7 237.2 -11.2 339 1951 0.00 2.75 0.00 0.000 4 0.000 0.054 2654 888 3869

2003 -0.75 -194.7 243.5 -10.8 349 2009 0.00 2.72 0.00 0.000 6 0.000 0.045 2654 2295 3869

2346 -0.75 -194.7 284.3 -11.8 410 2351 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2295 3869

2688 -0.75 -194.7 325.3 -12.1 471 2693 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2295 3869

3029 -0.75 -194.7 364.8 -11.5 521 3030 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2295 3869

3347 -0.75 -194.7 400.0 -10.9 551 3351 0.00 2.78 0.00 0.000 4 0.000 0.055 2654 887 3869

3397 -0.81 -194.7 405.3 -10.3 555 3403 0.17 2.70 0.00 0.000 6 0.056 0.043 2617 2291 3869

3722 -0.73 -194.7 452.5 -14.8 585 3724 0.15 0.00 0.00 0.000 6 0.140 0.000 2638 2291 3868

4041 -0.73 -194.7 491.5 -11.9 615 4043 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2291 3869

4359 -0.73 -194.7 529.5 -12.1 645 4361 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2291 3868

4677 -0.73 -194.7 566.7 -11.8 675 4679 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2291 3868

4995 -0.73 -194.7 603.6 -11.6 704 4999 0.00 2.80 0.00 0.000 4 0.000 0.057 2638 880 3868

5038 -0.73 -194.7 608.7 -11.2 706 5042 0.00 2.70 0.00 0.000 6 0.000 0.044 2638 2281 3868

5365 -0.73 -194.7 647.6 -12.0 722 5366 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2281 3868

5674 -0.73 -194.7 685.7 -12.6 737 5678 0.00 2.88 0.00 0.000 4 0.000 0.064 2638 3704 3868

5722 -0.73 -194.7 692.2 -12.2 739 5727 0.00 2.80 0.00 0.000 6 0.000 0.049 2638 2282 3868

6044 -0.73 -194.7 734.4 -13.0 755 6049 0.00 2.83 0.00 0.000 4 0.000 0.067 2638 880 3868

6093 -0.73 -194.7 740.6 -11.8 757 6097 0.00 2.72 0.00 0.000 6 0.000 0.048 2638 2273 3868

6414 -0.73 -194.7 780.6 -12.3 773 6415 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2275 3867

6724 -0.73 -194.7 818.8 -13.3 788 6725 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2276 3867

7032 -0.73 -194.7 858.3 -12.4 803 7033 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2278 3867

7342 -0.73 -194.7 894.3 -11.4 818 7346 0.00 2.83 0.00 0.000 4 0.000 0.067 2638 887 3867

7403 -0.73 -194.7 901.1 -11.2 821 7407 0.00 2.72 0.00 0.000 6 0.000 0.048 2639 2277 3867

7728 -0.73 -194.7 938.6 -11.8 837 7733 0.00 2.92 0.00 0.000 4 0.000 0.067 2638 3712 3866

7766 -0.73 -194.7 943.2 -11.8 839 7771 0.00 2.88 0.00 0.000 6 0.000 0.051 2638 2263 3866

8092 -0.73 -194.7 979.2 -10.5 855 8097 0.00 2.78 0.00 0.000 4 0.000 0.067 2638 886 3866

8137 -0.78 -194.7 983.7 -9.7 857 8141 0.00 2.72 0.00 0.000 6 0.000 0.049 2638 2276 3866

8207 end dive: TARGET_DEPTH_EXCEEDED

state 8207 begin apogee

8212 -0.19 0.0 991.0 10.3 861 8417 0.70 0.00 200.80 1.428 6 0.124 0.000 2755 2040 3071

8417 end apogee: CONTROL_FINISHED_OK

state 8418 begin climb

8420 0.82 194.7 997.0 0.0 871 8638 1.25 3.22 207.05 1.356 4 0.086 0.070 2971 631 2277

8757 0.72 194.7 966.2 12.7 887 8762 0.00 2.95 0.00 0.000 6 0.000 0.046 2971 2059 2273

9083 0.59 194.7 926.0 11.9 903 9089 0.22 2.88 0.00 0.000 4 0.133 0.061 2935 3461 2271

9133 0.54 194.7 920.7 10.1 905 9138 0.00 2.83 0.00 0.000 6 0.000 0.052 2935 2063 2271

9449 0.51 214.8 891.6 9.3 920 9475 0.15 2.90 20.50 1.381 4 0.129 0.060 2909 3470 2194

9520 0.56 256.2 885.3 8.6 923 9572 0.00 2.80 43.03 1.309 6 0.000 0.051 2910 2082 2025

9883 0.68 318.2 856.4 7.9 941 9953 0.15 2.92 63.35 1.329 4 0.067 0.059 2943 3460 1772

9969 0.40 318.2 847.0 10.5 945 9974 0.35 2.83 0.00 0.000 6 0.116 0.051 2889 2093 1770

10290 0.72 454.9 828.9 5.3 961 10440 0.32 3.20 142.88 1.292 4 0.046 0.071 2958 637 1215

10537 0.72 454.9 799.6 11.2 973 10542 0.00 2.97 0.00 0.000 6 0.000 0.045 2959 2102 1209

10862 0.72 454.9 755.4 14.2 989 10867 0.00 3.05 0.00 0.000 4 0.000 0.071 2958 641 1207

10878 0.72 454.9 752.9 15.1 990 10883 0.00 2.85 0.00 0.000 6 0.000 0.044 2958 2093 1206

11204 0.72 454.9 705.6 15.0 1006 11209 0.00 3.00 0.00 0.000 4 0.000 0.070 2958 640 1205

11292 0.72 454.9 693.4 13.0 1010 11296 0.00 2.80 0.00 0.000 6 0.000 0.044 2959 2080 1203

11619 0.72 454.9 647.1 14.3 1026 11620 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2080 1204

11928 0.72 454.9 604.0 14.1 1041 11933 0.00 2.95 0.00 0.000 4 0.000 0.067 2959 634 1203

11949 0.72 454.9 601.0 13.7 1042 11953 0.00 2.78 0.00 0.000 6 0.000 0.041 2958 2075 1203

12275 0.72 454.9 557.7 13.3 1072 12276 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2076 1203

12593 0.72 454.9 514.1 13.6 1102 12597 0.00 2.92 0.00 0.000 4 0.000 0.064 2959 632 1203

12621 0.72 454.9 510.4 14.0 1104 12625 0.00 2.72 0.00 0.000 6 0.000 0.041 2959 2056 1202

12945 0.72 454.9 468.2 13.6 1134 12946 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2056 1202

13263 0.72 454.9 425.7 13.2 1164 13264 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2056 1202

13584 0.72 454.9 384.5 13.2 1194 13585 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2056 1202

13905 0.72 454.9 341.3 13.7 1229 13910 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2056 1202

14246 0.72 454.9 294.0 13.5 1290 14251 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2056 1202

14588 0.72 454.9 250.3 13.1 1351 14593 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2056 1202

14930 0.72 454.9 208.4 11.7 1412 14935 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2056 1202

15274 0.72 454.9 168.2 11.5 1473 15280 0.00 2.88 0.00 0.000 4 0.000 0.063 2959 632 1202

15297 0.72 454.9 165.4 11.7 1477 15303 0.00 2.70 0.00 0.000 6 0.000 0.040 2959 2048 1202

15641 0.72 454.9 125.6 11.0 1538 15647 0.00 2.75 0.00 0.000 4 0.000 0.052 2958 3461 1202

15659 0.72 454.9 123.4 11.3 1541 15665 0.00 2.75 0.00 0.000 6 0.000 0.044 2959 2046 1201

16002 0.72 454.9 85.2 12.3 1602 16008 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2046 1202

16345 0.72 454.9 44.2 11.7 1663 16351 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2045 1202

16486 0.72 454.9 26.5 12.2 1688 16492 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2046 1202

16628 0.72 454.9 8.9 11.8 1713 16634 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2046 1202

16688 end climb: SURFACE_DEPTH_REACHED

state 16688 begin surface coast

16706 end surface coast: CONTROL_FINISHED_OK

state 16707 begin surface

ID	143	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	340	PITCH_ADJ_GAIN	0.02	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	198	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	182	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3816	ALTIM_PING_DEPTH	0
D_TGT	990	TGT_DEFAULT_LAT	-2030	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	1040	TGT_DEFAULT_LON	5900	C_ROLL_DIVE	2295	ALTIM_FREQUENCY	13
D_NO_BLEED	350	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
D_FINISH	0	SM_CC	200	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	8	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	18	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	53
T_ABORT	720	CALL_TRIES	5	VBD_MIN	490	DEVICE4	35
T_TURN	270	CALL_WAIT	60	VBD_MAX	3964	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3071	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-9026.0293	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	1469	AH0_24V	150	SEABIRD_T_G	0.0043273759
SPEED_FACTOR	1	PITCH_MAX	4022	AH0_10V	100	SEABIRD_T_H	0.00064184016
RHO	1.0273	C_PITCH	2800	PRESSURE_YINT	-13.47135	SEABIRD_T_I	2.4188148e-05
MASS	51457	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.1530041e-05	SEABIRD_T_J	2.4070987e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.197048
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1695373
KALMAN_USE	2	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015330453
HD_A	0.0038360001	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00015523176
HD_B	0.010078	PITCH_AD_RATE	100	ALTIM_BOTTOM_PING_RANGE	0

GPS1	040138,6100.512,-2613.461,30,1.5,30,-18.3	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6110.602,-2615.373
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.95	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041057,6100.454,-2613.592,14,1.6,14,-18.3	MHEAD_RNG_PITCHd_Wd	358.3,20000,-15.7,-10.000
SPEED_LIMITS	0.173,0.296	D_GRID	990

FINISH	0.3,1.016523	XPDR_PINGS	16
SM_CCo	16783,0.00,0.000,0,0,1201,458.71	_24V_AH	19.2,65.425
SM_GC	0.88,7.22,0.00,0.00,0.042,0.000,0.000,1467,2300,1201,-6.09,0.17,458.71	_10V_AH	9.9,45.990
IRIDIUM_FIX	6037.25,-2612.07,080897,040415	DATA_FILE_SIZE	123250,1727
TT8_MAMPS	0.021476	CAP_FILE_SIZE	154710,0
HUMID	1735	CFSIZE	260165632,237785088
INTERNAL_PRESSURE	8.13508	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	140508,085207,6101.340,-2615.666,32,1.4,32,-18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	249	100.15	SBE_CT	1293	24	596.19
Roll_motor	125	72	175.89	SBE_O2	1209	19	441.13
VBD_pump_during_apogee	677	1428	18580.17	Optode	646	33	409.75
VBD_pump_during_surface	0	0	0.00	WL_BB2F	902	105	1819.78
VBD_valve	0	0	0.00	WL_BBFL2VMT	0	105	0.00
Iridium_during_init	64	103	127.48	nil	0	0	0.00
Iridium_during_connect	64	160	199.60	nil	0	0	0.00
Iridium_during_xfer	244	223	1046.89
Transponder_ping	4	420	32.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.14
TT8	2720	19	533.31
LPSleep	10129	2	219.63
TT8_Active	777	19	152.40
TT8_Sampling	3066	39	1208.36
TT8_CF8	635	45	288.18
TT8_Kalman	0	0	0.00
Analog_circuits	2229	12	264.87
GPS_charging	0	0	0.00
Compass	3043	8	241.05
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
24	end surface: CONTROL_FINISHED_OK
state	25	begin dive
27	-0.82	-194.7	0.0	0.0	0	128	0.00	0.00	-98.60	0.000	2	0.000	0.000	1466	2317	3429
131	-0.82	-194.7	3.4	-5.4	18	161	9.90	2.85	-10.38	0.000	4	0.249	0.073	2607	3689	3868
330	-0.73	-194.7	40.4	-16.5	53	337	0.20	2.70	0.00	0.000	6	0.143	0.041	2637	2286	3868
474	-0.68	-194.7	60.9	-14.2	78	480	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2285	3868
817	-0.64	-194.7	107.9	-13.4	139	823	0.12	0.00	0.00	0.000	6	0.153	0.000	2654	2283	3868
1160	-0.64	-194.7	148.5	-11.6	200	1166	0.00	2.72	0.00	0.000	4	0.000	0.054	2655	888	3868
1206	-0.69	-194.7	153.8	-11.0	208	1213	0.00	2.70	0.00	0.000	6	0.000	0.045	2654	2279	3868
1550	-0.69	-194.7	192.7	-11.2	269	1556	0.00	2.85	0.00	0.000	4	0.000	0.058	2654	3712	3868
1601	-0.69	-194.7	198.6	-11.0	278	1608	0.00	2.72	0.00	0.000	6	0.000	0.041	2654	2298	3869
1945	-0.69	-194.7	237.2	-11.2	339	1951	0.00	2.75	0.00	0.000	4	0.000	0.054	2654	888	3869
2003	-0.75	-194.7	243.5	-10.8	349	2009	0.00	2.72	0.00	0.000	6	0.000	0.045	2654	2295	3869
2346	-0.75	-194.7	284.3	-11.8	410	2351	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2295	3869
2688	-0.75	-194.7	325.3	-12.1	471	2693	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2295	3869
3029	-0.75	-194.7	364.8	-11.5	521	3030	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2295	3869
3347	-0.75	-194.7	400.0	-10.9	551	3351	0.00	2.78	0.00	0.000	4	0.000	0.055	2654	887	3869
3397	-0.81	-194.7	405.3	-10.3	555	3403	0.17	2.70	0.00	0.000	6	0.056	0.043	2617	2291	3869
3722	-0.73	-194.7	452.5	-14.8	585	3724	0.15	0.00	0.00	0.000	6	0.140	0.000	2638	2291	3868
4041	-0.73	-194.7	491.5	-11.9	615	4043	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2291	3869
4359	-0.73	-194.7	529.5	-12.1	645	4361	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2291	3868
4677	-0.73	-194.7	566.7	-11.8	675	4679	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2291	3868
4995	-0.73	-194.7	603.6	-11.6	704	4999	0.00	2.80	0.00	0.000	4	0.000	0.057	2638	880	3868
5038	-0.73	-194.7	608.7	-11.2	706	5042	0.00	2.70	0.00	0.000	6	0.000	0.044	2638	2281	3868
5365	-0.73	-194.7	647.6	-12.0	722	5366	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2281	3868
5674	-0.73	-194.7	685.7	-12.6	737	5678	0.00	2.88	0.00	0.000	4	0.000	0.064	2638	3704	3868
5722	-0.73	-194.7	692.2	-12.2	739	5727	0.00	2.80	0.00	0.000	6	0.000	0.049	2638	2282	3868
6044	-0.73	-194.7	734.4	-13.0	755	6049	0.00	2.83	0.00	0.000	4	0.000	0.067	2638	880	3868
6093	-0.73	-194.7	740.6	-11.8	757	6097	0.00	2.72	0.00	0.000	6	0.000	0.048	2638	2273	3868
6414	-0.73	-194.7	780.6	-12.3	773	6415	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2275	3867
6724	-0.73	-194.7	818.8	-13.3	788	6725	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2276	3867
7032	-0.73	-194.7	858.3	-12.4	803	7033	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2278	3867
7342	-0.73	-194.7	894.3	-11.4	818	7346	0.00	2.83	0.00	0.000	4	0.000	0.067	2638	887	3867
7403	-0.73	-194.7	901.1	-11.2	821	7407	0.00	2.72	0.00	0.000	6	0.000	0.048	2639	2277	3867
7728	-0.73	-194.7	938.6	-11.8	837	7733	0.00	2.92	0.00	0.000	4	0.000	0.067	2638	3712	3866
7766	-0.73	-194.7	943.2	-11.8	839	7771	0.00	2.88	0.00	0.000	6	0.000	0.051	2638	2263	3866
8092	-0.73	-194.7	979.2	-10.5	855	8097	0.00	2.78	0.00	0.000	4	0.000	0.067	2638	886	3866
8137	-0.78	-194.7	983.7	-9.7	857	8141	0.00	2.72	0.00	0.000	6	0.000	0.049	2638	2276	3866
8207	end dive: TARGET_DEPTH_EXCEEDED
state	8207	begin apogee
8212	-0.19	0.0	991.0	10.3	861	8417	0.70	0.00	200.80	1.428	6	0.124	0.000	2755	2040	3071
8417	end apogee: CONTROL_FINISHED_OK
state	8418	begin climb
8420	0.82	194.7	997.0	0.0	871	8638	1.25	3.22	207.05	1.356	4	0.086	0.070	2971	631	2277
8757	0.72	194.7	966.2	12.7	887	8762	0.00	2.95	0.00	0.000	6	0.000	0.046	2971	2059	2273
9083	0.59	194.7	926.0	11.9	903	9089	0.22	2.88	0.00	0.000	4	0.133	0.061	2935	3461	2271
9133	0.54	194.7	920.7	10.1	905	9138	0.00	2.83	0.00	0.000	6	0.000	0.052	2935	2063	2271
9449	0.51	214.8	891.6	9.3	920	9475	0.15	2.90	20.50	1.381	4	0.129	0.060	2909	3470	2194
9520	0.56	256.2	885.3	8.6	923	9572	0.00	2.80	43.03	1.309	6	0.000	0.051	2910	2082	2025
9883	0.68	318.2	856.4	7.9	941	9953	0.15	2.92	63.35	1.329	4	0.067	0.059	2943	3460	1772
9969	0.40	318.2	847.0	10.5	945	9974	0.35	2.83	0.00	0.000	6	0.116	0.051	2889	2093	1770
10290	0.72	454.9	828.9	5.3	961	10440	0.32	3.20	142.88	1.292	4	0.046	0.071	2958	637	1215
10537	0.72	454.9	799.6	11.2	973	10542	0.00	2.97	0.00	0.000	6	0.000	0.045	2959	2102	1209
10862	0.72	454.9	755.4	14.2	989	10867	0.00	3.05	0.00	0.000	4	0.000	0.071	2958	641	1207
10878	0.72	454.9	752.9	15.1	990	10883	0.00	2.85	0.00	0.000	6	0.000	0.044	2958	2093	1206
11204	0.72	454.9	705.6	15.0	1006	11209	0.00	3.00	0.00	0.000	4	0.000	0.070	2958	640	1205
11292	0.72	454.9	693.4	13.0	1010	11296	0.00	2.80	0.00	0.000	6	0.000	0.044	2959	2080	1203
11619	0.72	454.9	647.1	14.3	1026	11620	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2080	1204
11928	0.72	454.9	604.0	14.1	1041	11933	0.00	2.95	0.00	0.000	4	0.000	0.067	2959	634	1203
11949	0.72	454.9	601.0	13.7	1042	11953	0.00	2.78	0.00	0.000	6	0.000	0.041	2958	2075	1203
12275	0.72	454.9	557.7	13.3	1072	12276	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2076	1203
12593	0.72	454.9	514.1	13.6	1102	12597	0.00	2.92	0.00	0.000	4	0.000	0.064	2959	632	1203
12621	0.72	454.9	510.4	14.0	1104	12625	0.00	2.72	0.00	0.000	6	0.000	0.041	2959	2056	1202
12945	0.72	454.9	468.2	13.6	1134	12946	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2056	1202
13263	0.72	454.9	425.7	13.2	1164	13264	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2056	1202
13584	0.72	454.9	384.5	13.2	1194	13585	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2056	1202
13905	0.72	454.9	341.3	13.7	1229	13910	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2056	1202
14246	0.72	454.9	294.0	13.5	1290	14251	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2056	1202
14588	0.72	454.9	250.3	13.1	1351	14593	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2056	1202
14930	0.72	454.9	208.4	11.7	1412	14935	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2056	1202
15274	0.72	454.9	168.2	11.5	1473	15280	0.00	2.88	0.00	0.000	4	0.000	0.063	2959	632	1202
15297	0.72	454.9	165.4	11.7	1477	15303	0.00	2.70	0.00	0.000	6	0.000	0.040	2959	2048	1202
15641	0.72	454.9	125.6	11.0	1538	15647	0.00	2.75	0.00	0.000	4	0.000	0.052	2958	3461	1202
15659	0.72	454.9	123.4	11.3	1541	15665	0.00	2.75	0.00	0.000	6	0.000	0.044	2959	2046	1201
16002	0.72	454.9	85.2	12.3	1602	16008	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2046	1202
16345	0.72	454.9	44.2	11.7	1663	16351	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2045	1202
16486	0.72	454.9	26.5	12.2	1688	16492	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2046	1202
16628	0.72	454.9	8.9	11.8	1713	16634	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2046	1202
16688	end climb: SURFACE_DEPTH_REACHED
state	16688	begin surface coast
16706	end surface coast: CONTROL_FINISHED_OK
state	16707	begin surface